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Analysis of static equilibrium of a parallel manipulator

Published online by Cambridge University Press:  09 March 2009

Hyunsok Pang  and
Mohsen Shahinpoor
Hyunsok Pang
Affiliation:
Department of Mechanical EngineeringUniversity of New MexicoAlbuquerqueNew Mexico 87131 (USA)
Mohsen Shahinpoor
Affiliation:
Department of Mechanical EngineeringUniversity of New MexicoAlbuquerqueNew Mexico 87131 (USA)
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Summary

An analysis is presented in this paper for the equilibrium of a class of parallel manipulators resembling the Stewart platform in a general form. General coordinates and 4 x 4 homogeneous transformations are employed to arrive at exact expressions for the force distribution in all six legs given the general 6-dimensional wrench (generalized force) at the upper platform of a parallel manipulator. Numerical examples are carried out to examine the validity of the approach and the accuracy of the numerical technique employed.

Type
Research Article
Information
Robotica , Volume 11 , Issue 5 , September 1993 , pp. 433 - 443
Copyright
Copyright © Cambridge University Press 1993

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